1 绪论 .......................................................................................................................................1
1.1 自平衡小车的研究背景 ................................................................................................1
1.2 自平衡小车研究意义 ....................................................................................................1
1.3 论文的主要内容 ............................................................................................................2
2 课题任务与关键技术 ...........................................................................................................2
2.1 主要任务 ........................................................................................................................2
2.2 关键技术 .........................................................................................................................2
2.2.1 系统设计 .................................................................................................................2
2.2.2 数学建模 .................................................................................................................2
2.2.3 姿态检测 ..................................................................................................................3
2.2.4 控制算法 .................................................................................................................3
3 系统原理分析 .......................................................................................................................3
3.1 控制系统任务分解 ........................................................................................................3
3.2 控制原理 ........................................................................................................................4
3.3 数学模型 ........................................................................................................................5
4 系统硬件设计 .......................................................................................................................6
4.1 STC12C5A60S2 单片机介绍 ............................................................................................7
4.2 电源管理模块 ................................................................................................................8
4.3 车身姿态感应模块 ........................................................................................................9
4.3.1 加速度计 ...............................................................................................................10
4.3.2 陀螺仪 ...................................................................................................................12
4.4 电机驱动模块 ..............................................................................................................14
4.5 速度检测模块 ..............................................................................................................16
5 系统软件设计 .....................................................................................................................16
5.1 软件系统总体结构 ......................................................................................................17
5.2 单片机的硬件资源配置 ..............................................................................................18
5.2.1 定时/计数器设置...................................................................................................18
5.2.2 PWM 输出设置 ......................................................................................................20
5.2.3 串行通信设置 .......................................................................................................23